Title :
Ensuring safe obstacle avoidance in a shared-control system
Author :
Röfer, Thomas ; Lankenau, Axel
Author_Institution :
Bremer Inst. fur Sichere Syst., Bremen Univ., Germany
Abstract :
This paper describes the Bremen Autonomous Wheelchair project. It shows that common static fire strategies for ultrasonic sensors are inherently unsafe and proposes a new adaptive fire strategy which delivers a complete coverage of the environment of the robot. Furthermore, a new obstacle avoidance approach for shared-control robotic systems is described in detail
Keywords :
adaptive control; collision avoidance; fires; handicapped aids; mobile robots; safety; ultrasonic transducers; Bremen Autonomous Wheelchair; adaptive fire strategy; robot environment coverage; safe obstacle avoidance; shared-control robotic systems; static fire strategies; ultrasonic sensors; Cognitive robotics; Fires; Mobile robots; Pulse measurements; Rehabilitation robotics; Robot sensing systems; Sonar measurements; Ultrasonic imaging; Ultrasonic variables measurement; Wheelchairs;
Conference_Titel :
Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on
Conference_Location :
Barcelona
Print_ISBN :
0-7803-5670-5
DOI :
10.1109/ETFA.1999.813154
